现代制造工程Issue(8)：59-67,9.DOI:10.16731/j.cnki.1671-3133.2026.08.008
基于积分强化学习的轮腿机器人姿态平衡控制
Posture balance control of wheel-legged robots based on integral reinforcement learning
摘要
Abstract
To address posture balance control of wheel-legged robots in motion,the Zero Moment Point(ZMP)stability criterion and online optimal control based on Integral Reinforcement Learning(IRL)were integrated with the linearized state equation ob-tamned after kinematic decoupling.This integrated framework achieved upright posture balance and stable walking.Control inputs were integrated at fixed time intervals,and the Riccati matrix P of the cost function was fitted via least squares to optimize the on-line control policy.Experimental results demonstrate that IRL control outperforms fixed-gain optimal control in terms of conver-gence speed and steady-state error.To address nonlinear factors unaccounted for in the linearized model,a cascaded fuzzy PID controller was proposed.ADAMS and MATLAB co-simulation results confirm that the cascaded fuzzy PID controller significantly outperforms conventional PID control in regulating posture angle and velocity tracking,achieving a 38.46％reduction in steady-state error.关键词
轮腿机器人/零力矩点/最优控制/积分强化学习/串级模糊PID控制Key words
wheel-legged robot/Zero-Moment Point(ZMP)/optimal control/Integral Reinforcement Learning(IRL)/cascaded fuzzy PID control分类
信息技术与安全科学引用本文复制引用
鲁金亮,皮明,杨涛,张良,曾国鑫..基于积分强化学习的轮腿机器人姿态平衡控制[J].现代制造工程,2026,(8):59-67,9.基金项目
四川省重点研发计划项目(2024YFFK0039) （2024YFFK0039）
西南科技大学博士基金项目(21zx7142) （21zx7142）
